Autonics AiC-CL Series User manual

User Manual
Closed-Loop Stepper System
AiC-CL Series
MMD-AiC-CLU1-V1.1-2004US
Thank you for purchasing an Autonics product.
This user manual contains information about the product and its proper use,
and should be kept in a place where it will be easy to access.
www.autonics.com

Preface
© Copyright Reserved Autonics Co., Ltd. iii
Preface
Thank you for purchasing Autonics product.
Please familiarize yourself with the information contained in the Safety Considerations
section before using this product.
This user manual contains information about the product and its proper use, and should be
kept in a place where it will be easy to access.

User Manual Guide
iv © Copyright Reserved Autonics Co., Ltd.
User Manual Guide
Please familiarize yourself with the information in this manual before using the product.
This manual provides detailed information on the product's features. It does not offer any
guarantee concerning matters beyond the scope of this manual.
This manual may not be edited or reproduced in either part or whole without permission.
A user manual is not provided as part of the product package.
Visit our website (www.autonics.com) to download a copy.
The manual's content may vary depending on changes to the product's software and other
unforeseen developments within Autonics, and is subject to change without prior notice.
Upgrade notice is provided through out website.
We contrived to describe this manual more easily and correctly. However, if there are any
corrections or questions, please notify us these on our website.

User Manual Symbols
© Copyright Reserved Autonics Co., Ltd. v
User Manual Symbols
Symbol Description
Supplementary information for a particular feature.
Failure to follow instructions can result in serious injury or death.
Failure to follow instructions can lead to a minor injury or product
damage.
An example of the concerned feature's use.
※1 Annotation mark.

Safety Considerations
vi © Copyright Reserved Autonics Co., Ltd.
Safety Considerations
Following these safety considerations will ensure the safe and proper use of the product
and help prevent accidents, as well as minimizing possible hazards.
Safety considerations are categorized as Warnings and Cautions, as defined below:
Warning Failure to follow these instructions may result in
serious injury or death.
Caution Failure to follow these instructions may result in
personal injury or product damage.
Fail-safe device must be installed when using the unit with machinery that may cause serious
injury or substantial economic loss. (e.g. nuclear power control, medical equipment, ships,
vehicles, railways, aircraft, combustion apparatus, safety equipment, crime/disaster
prevention devices, etc.)
Failure to follow this instruction may result in personal injury, economic loss or fire.
Do not use the unit in the place where flammable/explosive/corrosive gas, high humidity,
direct sunlight, radiant heat, vibration, impact, or salinity may be present.
Failure to follow this instruction may result in explosion or fire.
Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire or electric shock.
Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, or economic loss or fire.
Check 'Connections' before wiring.
Failure to follow this instruction may result in fire.
Do not disassemble or modify the unit.
Failure to follow this instruction may result in fire or electrical shock.
Install the driver in the grounded housing or ground it directly.
Failure to follow this instruction may result in personal injury, fire or electric shock.
Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn or electric shock due to high temperature
of the surface.
Emergency stop directly when error occurs.
Failure to follow this instruction may result in personal injury or fire.

Safety Considerations
© Copyright Reserved Autonics Co., Ltd. vii
When connecting the power input, use AWG 18(0.75mm2) cable or over.
Brake is non-polar. When connecting the brake, use AWG 24 (0.2mm2) cable or over.
Failure to follow this instruction may result in fire or malfunction due to contact failure.
To use the motor safely, do not apply external force to the motor.
It is recommended to use STOPPER for the vertical load.
Install over-current prevention device (e.g. the current breaker, etc.) to connect the driver with
power.
Failure to follow this instruction may result in fire.
Check the control input signal before supplying power to the driver.
Failure to follow this instruction may result in personal injury or product damage by
unexpected signal.
Install a safety device to maintain the vertical position after turn off the power of this driver.
Failure to follow this instruction may result in personal injury or product damage by releasing
holding torque of the motor.
Use the unit within the rated specifications.
Failure to follow this instruction may result in fire or product damage.
Use dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow this instruction may result in fire or electric shock.
The driver may overheat depending on the environment.
Install the unit in the well-ventilated place and forced cooling with a cooling fan.
Failure to follow this instruction may result in product damage or degradation by heat.
Keep the product away from metal chip, dust, and wire residue which flowing into the unit.
Failure to follow this instruction may result in fire or product damage.
Use the designated motor only.
Failure to follow this instruction may result in fire or product damage.
The above specifications are subject to change and somd models may be discontinued
without notice.
Be sure to follow cautions written in the instruction manual, user manual and the
technical descriptions (catalog, website).

Cautions during Use
viii © Copyright Reserved Autonics Co., Ltd.
Cautions during Use
Follow instructions in ‘Cautions during Use'. Otherwise, it may cause unexpected accidents.
24VDC power supply should be insulated and limited voltage/current or Class 2, SELV power
supply device.
Re-supply power after min. 1 sec from disconnected power.
In case communication is unstable due to the noise generated by supplied power or
peripheral device, use ferrite core at communication line.
It is recommended to use 485 converter with the separate power.
(Autonics product, SCM-38I, recommended)
The thickness of cable should be same or thicker than the motor cable's when extending the
motor cable.
①CN1 (power connector): AWG18
②CN2 (motor+encoder connector): AWG22, AWG24
③CN3 (I/O connector): AWG28
RS485 communication is for parameter setting and operation test instead of driver operation.
When operating with CC-Link, disconnect the RS485 communication from the device.
CC-Link dedicated cable must be used. The performance cannot be guaranteed in case of
using other cable.
Keep the distance between power cable and signal cable more than 10cm.
Motor vibration and noise can occur in specific frequency period
①Change motor installation method or attach the damper.
②Use the unit out of the dedicated frequency range when vibration and noise occurs
due to changing motor RUN speed.
For using motor, it is recommended to maintenance and inspection regularly.
①Unwinding bolts and connection parts for the unit installation and load connection
②Strange sound from ball bearing of the unit
③Damage and stress of lead cable of the unit
④Connection error with motor
⑤Inconsistency between the axis of motor output and the center, concentric
(eccentric, declination) of the load, etc.
This product does not prepare protection function for a motor.

Cautions during Use
© Copyright Reserved Autonics Co., Ltd. ix
This unit may be used in the following environments.
①Indoors (in the environment condition rated in 'Specifications')
②Altitude max. 2,000m
③Pollution degree 2
④Installation category II
※Please refer to the communication manual for CC-Link communication.

Table of Contents
x © Copyright Reserved Autonics Co., Ltd.
Table of Contents
Preface ............................................................................................................................ iii
User Manual Guide...........................................................................................................iv
User Manual Symbols .......................................................................................................v
Safety Considerations......................................................................................................vi
Cautions during Use....................................................................................................... viii
Table of Contents ..............................................................................................................x
1Product Overview ................................................................................... 13
1.1 Features.............................................................................................................13
1.2 Configuration Diagram and Components.......................................................14
1.2.1 Components..............................................................................................14
1.2.2 Configuration Diagram .............................................................................14
1.3 Ordering Information.......................................................................................15
1.3.1 Driver .........................................................................................................15
1.3.2 Motor..........................................................................................................17
1.4 Models...............................................................................................................19
1.4.1 Standard Type ...........................................................................................19
1.4.2 Built-in Brake Type....................................................................................19
2Specification ............................................................................................ 20
2.1 Driver.................................................................................................................20
2.2 CC-Link Communication ..................................................................................22
2.3 Motor .................................................................................................................23
2.3.1 Frame Size 20 mm.....................................................................................23
2.3.2 Frame Size 28 mm.....................................................................................23
2.3.3 Frame Size 35 mm.....................................................................................23
2.3.4 Frame Size 42 mm.....................................................................................24
2.3.5 Frame Size 56 mm.....................................................................................24
2.3.6 Frame Size 60 mm.....................................................................................24
2.3.7 Common Specifications ...........................................................................25
2.3.8 Brake ..........................................................................................................26
2.3.9 Encoder......................................................................................................27
3Dimensions .............................................................................................. 28
3.1 Driver.................................................................................................................28
3.2 Motor .................................................................................................................29
3.2.1 Standard Type ...........................................................................................29
3.2.2 Built-in Brake Type....................................................................................33
4Installation of Motor ............................................................................... 35
4.1 Mounting Direction of Motor ...........................................................................35
4.2 Mounting of Motor............................................................................................36
4.2.1 Frame Size 20 mm.....................................................................................36
4.2.2 Frame Size 28 mm.....................................................................................36
4.2.3 Frame Size 35 mm.....................................................................................36
4.2.4 Frame Size 42 mm.....................................................................................37

Table of Contents
© Copyright Reserved Autonics Co., Ltd. xi
4.2.5 Frame Size 56 mm/Frame Size 60 mm.....................................................37
4.3 Connection with Load ..................................................................................... 38
4.3.1 Direct Load Connection with Coupling....................................................38
4.3.2 Load Connection with Pulley, Belt, and Wire ..........................................38
4.3.3 Load Connection with Gear......................................................................38
4.4 Installation Conditions.................................................................................... 39
5Connection............................................................................................... 40
5.1 Standard Type.................................................................................................. 40
5.2 Built-in Brake Type .......................................................................................... 41
6Characteristics......................................................................................... 42
6.1 Standard Type.................................................................................................. 42
6.1.1 Frame Size 20 mm.....................................................................................42
6.1.2 Frame Size 28 mm.....................................................................................42
6.1.3 Frame Size 35 mm.....................................................................................42
6.1.4 Frame Size 42 mm.....................................................................................43
6.1.5 Frame Size 56 mm.....................................................................................43
6.1.6 Frame Size 60 mm.....................................................................................43
6.2 Built-in Brake Type .......................................................................................... 44
6.2.1 Frame Size 42 mm.....................................................................................44
6.2.2 Frame Size 56 mm.....................................................................................44
6.2.3 Frame Size 60 mm.....................................................................................44
7Driver Unit Descriptions......................................................................... 45
7.1 Connectors....................................................................................................... 46
7.1.1 Power Connector (CN1: PWR)...................................................................46
7.1.2 Motor+Encoder Connector (CN2: MOTOR) ..............................................46
7.1.3 I/O Connector (CN3: SIGNAL I/O) .............................................................47
7.1.4 RS485 Comm. Connector (CN4: RS485) ...................................................48
7.1.5 Brake Connector (CN5: BRAKE) ................................................................48
7.1.6 CC-Link Connector (CN6: DA DB DG SH FG) .............................................48
7.2 Connector Specifications................................................................................ 48
7.3 Switches ........................................................................................................... 49
7.3.1 CC-Link Station Setting DIP Switch (SW1) ...............................................49
7.3.2 CC-Link Comm. Speed Setting Rotary Switch (B-RATE)..........................49
7.3.3 CC-Link Station Setting Rotary Switch (STATION NO.)............................49
7.4 Driver Status Indicator .................................................................................... 50
7.5 Sold Separately................................................................................................ 51
7.5.1 Power Cable (CJ-PW-□) ...........................................................................51
7.5.2 Motor+Encoder Cable (normal: C1D14M(B)-□/moving: C1DF14M(B)-
□) 51
7.5.3 I/O Cable (CO20-MP□-R, standard: AiC-CL TAG) .....................................51
8Control Input/Output ............................................................................. 52
8.1 Input ................................................................................................................. 52
8.1.1 Exclusive Input ..........................................................................................52
8.1.2 General Input ............................................................................................53
8.1.3 Example of Input Circuit Connection.......................................................58
8.2 Output .............................................................................................................. 59

Table of Contents
xii © Copyright Reserved Autonics Co., Ltd.
8.2.1 General Output..........................................................................................59
8.2.2 Example of Output Circuit Connection....................................................68
8.2.3 Brake Output .............................................................................................68
9Drive.......................................................................................................... 69
9.1 Jog Mode...........................................................................................................70
9.2 Continuous Mode .............................................................................................71
9.3 Program Mode ..................................................................................................72
9.4 Index Mode........................................................................................................73
9.5 Home Search ....................................................................................................74
10 Program Instructions.............................................................................. 75
10.1 Drive Instruction...............................................................................................76
10.1.1 ABS (Absolute Position Move) ..................................................................76
10.1.2 INC (Incremental Position Move) .............................................................77
10.1.3 HOM (Home Search)..................................................................................78
10.2 Input/Output Instruction.................................................................................79
10.2.1 ICJ (Input Condition Jump)......................................................................79
10.2.2 IRD (Input Wait) .........................................................................................79
10.2.3 OPC (Output Port ON/OFF).......................................................................79
10.2.4 OPT (Output Port ON Pulse) .....................................................................80
10.3 Program Control Instruction ...........................................................................81
10.3.1 JMP (Jump)................................................................................................81
10.3.2 REP (Repeat Start).....................................................................................81
10.3.3 RPE (Repeat End) ......................................................................................82
10.3.4 END (Program End) ...................................................................................82
10.3.5 POS (Position Setting) ..............................................................................82
10.4 Others................................................................................................................82
10.4.1 TIM (Ready)................................................................................................82
11 Driver Function........................................................................................ 83
11.1 General Drive ....................................................................................................83
11.1.1 Fixed Pulse and Continuous Pulse Drive .................................................83
11.1.2 Speed Curve ..............................................................................................85
11.2 Home Search ....................................................................................................87
11.2.1 General Home Search (Home Search Method = 0) ..................................87
11.2.2 Limit Home Search (Home Search Method = 1) ......................................88
11.2.3 Zero Home Search (Home Search Method = 2) .......................................89
11.2.4 Torque Home Search (Home Search Method = 3) ...................................90
11.3 Other Functions................................................................................................91
11.3.1 Limit Operation .........................................................................................91
11.3.2 Stop Current ..............................................................................................92
11.3.3 Stop Current Fix.........................................................................................92
11.3.4 Speed Filter ...............................................................................................92
11.3.5 Position Control Gain Setting...................................................................93
11.3.6 In-Position .................................................................................................94
12 Troubleshooting ...................................................................................... 95

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 13
1Product Overview
1.1 Features
AiC-CL Series is 2-phase closed-loop stepper motor driver built-in motion controller
function.
This unit is stand alone type and it drives through I/O with/without PC.
There are settings; PI-Gain, Speed Filter, In-Position and 4 modes.
It minimizes motor heat generation due to current setting during home search drive, stop.
It controls up to 31-axis via RS485 communication.
Brake operation for safe control of vertical load at power OFF and alarm occur.
(built-in brake type)
Motor driver and controller integral type
CC-Link supported Remote Device station
CC-Link occupied stations: 1 station occupied, 2 stations occupied
CC-Link Version 1.10
Competitive price compared to the servo motor and closed-loop function and fast response
for short-distance continuous drive
Realizing a wide variety of operation up to 256 steps using 13 control commands combination
Improved user convenience with providing 20 I/O pins
Dedicated Windows program (atMotion) provided for parameter setting and test
Low vibration operation at low speed area and maintaining high torque at high speed area
available
Easy to use without tuning (various gain settings via programming)
Applicable to the precision equipment such as optical inspection equipment with the features
of maintaining torque in stop and having no micro vibration (hunting)
10 level resolutions available
Various alarm functions
: 22 alarms; over current, over speed, over heat, motor connection error, encoder connection
error and etc.
Frame size 20 mm, 28 mm, 35 mm, 42 mm, 56 mm, 60 mm motor supported

1 Product Overview
14 © Copyright Reserved Autonics Co., Ltd.
1.2 Configuration Diagram and Components
1.2.1 Components
1.2.1.1 Driver
AiC-D-CL Series Instruction manual
1.2.1.2 Motor
Ai-M Series Instruction manual
Make sure all of the above components are included with your product package before use.
If a component is missing or damaged, please contact Autonics or the distributor.
1.2.2 Configuration Diagram
※I/O cable, motor+encoder cable and power cable are sold separately.
For more information, refer to the ‘7.5 Sold Separately’.

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 15
1.3 Ordering Information
1.3.1 Driver
(1) Standard type
Ai C - D - 35 L B - CL
① ② ③④ ⑤⑥ ⑦
Item Description
①Series Ai Artificial intelligent
②Category C Controller
③Item D Driver
④Motor frame size
20 20×20 mm
28 28×28 mm
35 35×35 mm
42 42×42 mm
56 57.2×57.2 mm
60 60×60 mm
⑤Motor length
S
Short - Frame size 28 mm: 46 mm,
Frame size 35 mm: 41.5 mm
Frame size 42 mm: 67.5 mm,
Frame size 56 mm: 77.3 mm,
Frame size 60 mm: 81.9 mm
M
Middle - Frame size 20 mm: 41.2 mm,
Frame size 28 mm: 59 mm,
Frame size 35 mm: 52 mm
Frame size 42 mm: 73.5 mm,
Frame size 56 mm: 90.3 mm,
Frame size 60 mm: 102.8 mm
L
Long - Frame size 20 mm: 53.1mm,
Frame size 28 mm: 65 mm,
Frame size 35 mm: 68.5 mm
Frame size 42 mm: 81.5 mm,
Frame size 56 mm: 111.3 mm,
Frame size 60 mm: 119.8 mm
⑥Encoder resolution
A※14,000 PPR (1,000 PPRⅹ4-multiply)
B※216,000 PPR (4,000 PPRⅹ4-multiply)
A※310,000 PPR (2,500 PPRⅹ4-multiply)
⑦Comm. Method CL CC-Link communication
※1. Encoder resolution for frame size 20 mm motors.
※2. Encoder resolution for frame size 28, 35 mm motors.
※3. Encoder resolution for frame size 42, 56, 60 mm motors.

1 Product Overview
16 © Copyright Reserved Autonics Co., Ltd.
(2) Built-in brake type
Ai C - D - 60 L A - B - CL
① ② ③④ ⑤⑥ ⑦⑧
Item Description
①Series Ai Artificial intelligent
②Category C Controller
③Item D Driver
④Motor frame size
42 42×42 mm
56 57.2×57.2 mm
60 60×60 mm
⑤Motor length
S
Short - Frame size 42 mm: 102.3 mm,
Frame size 56 mm: 112.1 mm,
Frame size 60 mm: 116.7 mm
M
Middle - Frame size 42 mm: 108.3 mm,
Frame size 56 mm: 125.1 mm,
Frame size 60 mm: 137.6 mm
L
Long - Frame size 42 mm: 116.3 mm,
Frame size 56 mm: 146.1 mm,
Frame size 60 mm: 154.6 mm
⑥Encoder resolution A 10,000 PPR (2,500 PPRⅹ4-multiply)
⑦Brake B Built-in Brake type
⑧ Comm. Method CL CC-Link communication

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 17
1.3.2 Motor
(1) Standard type
Ai - M - 28 S B
①②③④⑤
Item Description
①Series Ai Artificial intelligent
②Item M Motor
③Motor frame size
20 20×20 mm
28 28×28 mm
35 35×35 mm
42 42×42 mm
56 57.2×57.2 mm
60 60×60mm
④Motor length
S
Short - Frame size 28 mm: 46 mm,
Frame size 35 mm: 41.5 mm
Frame size 42 mm: 67.5 mm,
Frame size 56mm: 77.3mm,
Frame size 60mm: 81.9mm
M
Middle - Frame size 20 mm: 41.2 mm,
Frame size 28 mm: 59 mm
Frame size 35 mm: 52 mm
Frame size 42 mm: 73.5 mm,
Frame size 56 mm: 90.3 mm,
Frame size 60 mm: 102.8 mm
L
Long - Frame size 20 mm: 53.1 mm,
Frame size 28 mm: 65 mm,
Frame size 35 mm: 68.5 mm
Frame size 42 mm: 81.5 mm,
Frame size 56 mm: 111.3 mm,
Frame size 60 mm: 119.8 mm
⑤Encoder resolution
A※14,000 PPR (1,000 PPRⅹ4-multiply)
B※216,000 PPR (4,000 PPRⅹ4-multiply)
A※310,000 PPR (2,500 PPRⅹ4-multiply)
※1. Encoder resolution for frame size 20 mm motors.
※2. Encoder resolution for frame size 28, 35 mm motors.
※3. Encoder resolution for frame size 42, 56, 60 mm motors.

1 Product Overview
18 © Copyright Reserved Autonics Co., Ltd.
(2) Built-in brake type
Ai - M - 60 L A - B
①②③④⑤⑥
Item Description
①Series Ai Artificial intelligent
②Item M Motor
③Motor frame size
42 42×42 mm
56 57.2×57.2 mm
60 60×60mm
④Motor length
S
Short - Frame size 42 mm: 102.3 mm,
Frame size 56 mm: 112.1 mm,
Frame size 60 mm: 116.7 mm
M
Middle - Frame size 42 mm: 108.3 mm,
Frame size 56 mm: 125.1 mm,
Frame size 60 mm: 137.6 mm
L
Long - Frame size 42 mm: 116.3 mm,
Frame size 56 mm: 146.1 mm,
Frame size 60 mm: 154.6 mm
⑤Encoder resolution A 10,000 PPR (2,500 PPRⅹ4-multiply)
⑥Brake B Built-in Brake type

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 19
1.4 Models
1.4.1 Standard Type
Set Driver Motor
AiC-20MA-CL AiC-D-20MA-CL Ai-M-20MA
AiC-20LA-CL AiC-D-20LA-CL Ai-M-20LA
AiC-28SB-CL AiC-D-28SB-CL Ai-M-28SB
AiC-28MB-CL AiC-D-28MB-CL Ai-M-28MB
AiC-28LB-CL AiC-D-28LB-CL Ai-M-28LB
AiC-35SB-CL AiC-D-35SB-CL Ai-M-35SB
AiC-35MB-CL AiC-D-35MB-CL Ai-M-35MB
AiC-35LB-CL AiC-D-35LB-CL Ai-M-35LB
AiC-42SA-CL AiC-D-42SA-CL Ai-M-42SA
AiC-42MA-CL AiC-D-42MA-CL Ai-M-42MA
AiC-42LA-CL AiC-D-42LA-CL Ai-M-42LA
AiC-56SA-CL AiC-D-56SA-CL Ai-M-56SA
AiC-56MA-CL AiC-D-56MA-CL Ai-M-56MA
AiC-56LA-CL AiC-D-56LA-CL Ai-M-56LA
AiC-60SA-CL AiC-D-60SA-CL Ai-M-60SA
AiC-60MA-CL AiC-D-60MA-CL Ai-M-60MA
AiC-60LA-CL AiC-D-60LA-CL Ai-M-60LA
1.4.2 Built-in Brake Type
Set Driver Motor
AiC-42SA-B-CL AiC-D-42SA-B-CL Ai-M-42SA-B
AiC-42MA-B-CL AiC-D-42MA-B-CL Ai-M-42MA-B
AiC-42LA-B-CL AiC-D-42LA-B-CL Ai-M-42LA-B
AiC-56SA-B-CL AiC-D-56SA-B-CL Ai-M-56SA-B
AiC-56MA-B-CL AiC-D-56MA-B-CL Ai-M-56MA-B
AiC-56LA-B-CL AiC-D-56LA-B-CL Ai-M-56LA-B
AiC-60SA-B-CL AiC-D-60SA-B-CL Ai-M-60SA-B
AiC-60MA-B-CL AiC-D-60MA-B-CL Ai-M-60MA-B
AiC-60LA-B-CL AiC-D-60LA-B-CL Ai-M-60LA-B

2 Specification
20 © Copyright Reserved Autonics Co., Ltd.
2Specification
2.1 Driver
Model※1
-
AiC
-D-28SB-
CL
AiC
-D-35SB-
CL
AiC-D-42SA
(-B)-CL
AiC-D-56SA
(-B)-CL
AiC-D-60SA
(-B)-CL
AiC
-D-20MA-
CL
AiC
-D-28MB-
CL
AiC
-D-35MB-
CL
AiC-D-42MA
(-B)-CL
AiC-D-56MA
(-B)-CL
AiC-D-60MA
(-B)-CL
AiC
-D-20LA-
CL
AiC
-D-28LB-
CL
AiC
-D-35LB-
CL
AiC-D-42LA
(-B)-CL
AiC-D-56LA
(-B)-CL
AiC-D-60LA
(-B)-CL
Power supply
24
VDCᜡ
Allowable voltage range
90 to 110% of the rated voltage
Power
Consumption
STOP※2
M
ax. 10 W Max. 10 W Max. 12 W Max. 15 W
Max. during
operation※3
M
ax. 60 W Max. 60 W Max. 120 W Max. 240 W
Max. RUN current※4
0.6
A/Phase
1.0
A/Phase
1.2
A/Phase 1.7 A/Phase 3.5 A/Phase
STOP current※5
20 to 100% of max. RUN current (factory default: 50%)
Rotation speed
0 to 3000
rpm
Resolution※5
500 (factory
default), 1000,
1600, 2000,
3
600, 4000,
5000,
6400,
7200, 10000
PPR
500 (factory default), 1000,
1600, 2000, 3600, 5000, 6400,
7200, 10000
, 16000 PPR
500 (factory default), 1000, 1600, 2000,
3200, 3600, 5000, 6400, 7200, 10000 PPR
Applied motor※1
-
Ai
-M-28SB
Ai
-M-35SB Ai-M-42SA(-B) Ai-M-56SA(-B) Ai-M-60SA(-B)
Ai
-M-20MA
Ai
-M-28MB
Ai
-M-35MB Ai-M-42MA(-B) Ai-M-56MA(-B) Ai-M-60MA(-B)
Ai
-M-20LA
Ai
-M-28LB
Ai
-M-35LB Ai-M-42LA(-B) Ai-M-56LA(-B) Ai-M-60LA(-B)
Speed filter※5
0 (disable), 2, 4, 6, 8, 10, 20, 40, 60 (factory default), 80, 100, 120, 140, 160,
180, 200 ms
Positioning Gain※5
(P Gain, I Gain)=
(1, 1), (2, 1), (3, 1), (4, 1), (5, 1), (1, 2), (2, 2), (3, 2), (4, 2), (5, 2), (1, 3), (2, 3),
(3, 3), (4, 3), (5, 3), user setting
Positioning range
-
2,147,483,648 to +2,147,483,647
In-Position
Fast
Response: 0 (factory default) to 7, Accurate Response: 0 to 7
Motor rotation
direction※5
CW, CCW
Status indicator
●
Power/Alarm indicator: green/red LED ●In-Position indicator: yellow LED
●
Servo On/Off indicator: orange LED ●CC-Link indicator: red/green LED
●
Alarm/Warning status indicator: red LED 7 segment
I/O voltage level
[H]: 5
-30 VDCᜡ, [L]: 0-2 VDCᜡ
I/O Input
Exclusive input: 3, general input: 8
Output
General output: 7
External power supply
VEX
(recommended: 24 VDCᜡ), GEX (GND)
Operation mode
Jog, Continuous, Index, Program mode